I think you might be misremembering Doom 3 a bit. Both it and Half Life 2 came out in the same year, and, well... just compare:

https://www.youtube.com/watch?v=aTJ1weGimZQ

and

https://www.youtube.com/watch?v=y_3vMUOayyc

Doom 3's fully real time lighting and bump mapping was technically impressive, and the live interacting UI was very trick, but the character acting and animation was definitely not SOTA. That was Half Life 2. And if we consider impact on the gaming landscape, Doom 3 was if anything a dud. Elements from that game were not taken along, including not even in subsequent Doom games. Meanwhile Half Life 2's approach to storytelling & world building, animations, physics system - those practically defined the next generation.